[1]赵克刚,郭泉成,裴 锋,等.基于最优控制的智能车轨迹跟踪算法[J].机械与电子,2018,(07):76-80.
　ZHAO Kegang,GUO Quancheng,PEI Feng,et al.The Trajectory Tracking Method of Intelligent Vehicle Based on Optimality Control[J].Machinery & Electronics,2018,(07):76-80.
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基于最优控制的智能车轨迹跟踪算法
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年07期
页码:
76-80
栏目:
智能工程
出版日期:
2018-07-25

文章信息/Info

Title:
The Trajectory Tracking Method of Intelligent Vehicle Based on Optimality Control
文章编号:
1001-2257(2018)07-0076-05
作者:
赵克刚1; 郭泉成1; 裴 锋2; 梁政焘1
(1.华南理工大学汽车零部件技术国家地方联合工程实验室,广东 广州 510640; 2.广汽集团汽车工程研究院,广东 广州 511495)
Author(s):
ZHAO Kegang1; GUO Quancheng1; PEI Feng2; LIANG Zhengtao1
(1.National-Local Joint Engineering Laboratory of Automobile Parts Technology, South China University of Technology,Guangzhou 510640,China; 2.Gac automotive engineering research institute,Guangzhou 511495,China)
关键词:
智能车;  轨迹跟踪;  速度自适应;  线性二次型最优控制
Keywords:
intelligent vehicle;  trajectory tracking;  speed-adaptive;  Linear quadratic optimal control
分类号:
U461
文献标志码:
A
摘要:
根据车辆运动学方程和轨迹跟踪状态,建立轨迹跟踪误差模型,采用线性二次型最优控制方法,以动态跟踪误差、控制能量消耗综合最优为目标,通过不同速度时的目标权重系数调整,实现了速度自适应的车辆轨迹跟踪最优控制。仿真和实车实验结果表明,上述算法能够有效适用于智能车直线和曲线轨迹跟踪。
Abstract:
According to the vehicle kinematic equations and trajectory tracking state, trajectory tracking error model is established. Based on the linear quadratic optimal control method, the speed-adaptive trajectory tracking control is realized by adjusting the weight coefficient of the target at different speeds aiming at the comprehensive optimal target of the dynamic tracking error and energy consumption. The simulation and experimental results show that the proposed method can be applied to the straight and curve trajectory tracking of intelligent vehicles.

参考文献/References:

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相似文献/References:

[1]梁政焘１,赵克刚１,裴 锋２,等. 基于 ＭＰＣ的智能车轨迹跟踪算法[J].机械与电子,2019,(01):66.
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备注/Memo

备注/Memo:
收稿日期:2018-03-30
基金项目:广东省自然科学基金项目(2016A030313517); 国家自然科学基金(51575189)
作者简介:赵克刚(1977-),男,上海人,副教授,研究方向为车辆系统动力学及控制优化和智能汽车等; 郭泉成(1990-),男,四川隆昌人,硕士研究生,研究方向为智能车路径规划与轨迹跟踪。
更新日期/Last Update: 2018-07-25